IBM Service Oriented Modeling and Architecture TM (SOMA) Licensed Materials - Property of IBM © Copyright IBM Corporation All rights reserved. Introduction to Robotics Dr. Ali Arsanjani

2 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. PART 1: THE ENGINEERING PROCESS

3 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. The Engineering Process: Part 1 : the Cycle of Progress Transcend Plan and Design Prototype & Test Integrate & Test Record & Reflect hardware software GOAL Capabilities & Mechanisms; Strategies for using the above Add the sub-system you tested to the larger structure Record the results and reflect on what adjustments you need to make Decide if you have reached your goal, if so, choose another goal and its capabilities

4 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Plan and Design  Scope the effort; –how much will you undertake in this iteration?  Plan : decide who will do what in what amount of time! –Roles, tasks, durations, finances  Design the capabilities and the system or sub-system that those capabilities form

5 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. The capabilities can be grouped into “systems” Collect balls Deploy balls Trigger the Ball Chute Start Bush mechanism Reverse Bush mechanism Lower ramp Start motors Raise Loader Deployment systemCollection system How do they interface? (connect) A system: a cohesive group of capabilities working together towards a goal.

6 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Prototype and test  Build a prototype for the set of capabilities (sub-system) you have chosen to focus on  Test the prototype  Change it until you are meeting your goals and objectives

7 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Integrate and test  Integrate the capabilities (sub-system) you just built and tested into the whole system  Test how the new set of capabilities work in the context of the whole system

8 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Record and reflect  Record results  Discuss and reflect on outcomes  Decide on changes for the next iteration

9 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Integrating Hardware and Software  The Engineering Process is an iterative one –“Iterative: involving repetition” –It takes several iterations to get something right –Don’t expect to get it right the very first time! –Design first, then prototype with basic materials (card board etc.) then prototype with more sturdy material (more realistic prototype)

10 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. PART 2: GOALS AND CAPABILITIES

11 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Goals drive everything  In this module you will learn the relationship between hardware and software and goals  Hardware has features and mechanisms  Software provides capabilities  Goals are things you want to achieve  Often these goals rely on more detailed goals being achieved first  To achieve any goal, you need a capability

12 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Start with the Goal you want to achieve and see what other sub-goals need to be achieved first  Goals –What are we trying to do? What objective(s) do we want to achieve?  Sub-goals Sub- goal2 Sub-goal1 Goal Goal: to get this gear moving In order to do that, we need to get this gear to work first And before all else, we need to get this one going!

13 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Capabilities and mechanisms allow you to achieve goals Score on low goal Trigger Ball Chute Collect Balls Use a “bush” to collect in storage Bush + 2 NXT Motors + Spiral Zip Ties Lower a ramp to let balls in Ramp with Servo Deploy Balls Raise Storage Area Two Level Storage with Servo Goal Capabilities Capabilities use mechanisms

14 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Mechanisms enable capabilities to achieve goals GoalsCapabilitiesFeatures / Mechanisms

15 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved.

IBM Service Oriented Modeling and Architecture TM (SOMA) Licensed Materials - Property of IBM © Copyright IBM Corporation All rights reserved. Robotics Engineering Process >

17 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Principles  Start with Goals and Objectives; tie everything to goals –Why?  Decrease waste, time, false starts, changes, human discord  Design Before you Build or Code  Prototype/Test before you Build  Decide on an incremental set of functionality  Build up; get it working first, then enhance  Prototype with the simplest material first; prove it, then pay for the better material  As you approach the end game, freeze the changes  If it ain’t broke, don’t fix it!  Study scenarios and contingencies  Do parallel design and prototyping  Test and pick the best (the one that most easily gets you to your goal)

18 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. What are SCI principles related to the principles of robotic design?  List 3

19 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Goal-Oriented  Goals  Capabilities –What can the robot do? –Usually tied to software controlled set of mechanisms working together  Features/Mechanisms –Hardware  Strategies –How you use the mechanisms and capabilities to achieve the goals

20 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Context and Sensors  Sensing the environment gives you context –Programming Sensors give you contextual information  Building a robot is mechanics and only becomes robotics when you imbibe it with intelligence  Intelligence comes from awareness, which comes from using sensors

21 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Don’t over-automate  “Leave the driving to us” – greyhound principle –Partially delegate driving to the robot itself, until it grows up  I.e., you add enough guard code to disallow the robot to hurt itself

IBM Service Oriented Modeling and Architecture TM (SOMA) Licensed Materials - Property of IBM © Copyright IBM Corporation All rights reserved. Modified Asimov Laws of Robotics

23 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Isaac Asimov's "Three Laws of Robotics"  A robot may not injure a human being or, through inaction, allow a human being to come to harm.  A robot must obey orders given it by human beings except where such orders would conflict with the First Law.  A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.

24 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. Rewrite the laws to fit our competition

IBM Service Oriented Modeling and Architecture TM (SOMA) Licensed Materials - Property of IBM © Copyright IBM Corporation All rights reserved. The Practical Functions of a Design Part 4

26 Robotics Engineering Academy © Robotics Engineering Academy, All rights reserved. A design's practical functions can include:  movement How will the robot move within its environment? If it were put in a different environment, would it still be able to move within this new space?  manipulation How will the robot move or manipulate other objects within its environment? Can a single robot move or manipulate more than one kind of object?  energy How is the robot powered? Can it have more than one energy source?  intelligence How does the robot "think?" What does it mean to say that a robot "thinks?"  sensing How will my robot "know" or figure out what's in its environment? If it were put in a different environment, would it be able to figure out this new environment